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AcQuisition Technology bv
Headquarters:
Raadhuislaan 27a
5341 GL OSS
THE NETHERLANDS
Postal address:
P.O. Box 627
5340 AP OSS
THE NETHERLANDS
Phone:
Fax:
Email:
WEB:
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M321
Stepper Motor Controller M-module with
on-board Power Amplifiers
User Manual
Version 1.3
M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
Copyright statement:
Version: 1.3
Copyright ©2000 by AcQuisition Technology bv - OSS, The Netherlands
All rights reserved. No part of this publication may be reproduced, transmitted, transcribed, stored in
a retrieval system, or translated into any language, in any form or by any means without the written
permission of AcQuisition Technology bv.
Disclaimer:
The information in this document has been carefully checked and is believed to be entirely reliable.
However, no responsibility is assumed for inaccuracies. AcQuisition Technology does not assume
any liability arising out of the application or use of any product or circuit described herein; neither
does it convey any license under its patent rights nor the rights of others. AcQuisition Technology
products are not designed, intended, or authorized for use as components in systems intended to
support or sustain life, or for any other application in which the failure of an AcQuisition Technology
product could create a situation where personal injury or death may occur, including, but not limited
to AcQuisition Technology products used in defence, transportation, medical or nuclear applications.
Should the buyer purchase or use AcQuisition Technology products for any such unintended or
unauthorized application, the buyer shall indemnify and hold AcQuisition Technology and its officers,
employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages and
expenses, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal
injury or death associated with such unintended or unauthorized use, even if such claim alleges that
AcQuisition Technology was negligent regarding the design or manufacture of the part.
Printed in The Netherlands.
AcQuisition Technology bv
P.O. Box 627, 5340 AP
Oss, The Netherlands
M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
Version: 1.3
CONTENTS
1.
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.
VALIDITY OF THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.
PURPOSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.
SCOPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.
DEFINITIONS, ACRONYMS AND ABBREVIATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.
NOTES CONCERNING THE NOMENCLATURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.
OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.
PRODUCT OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.
TECHNICAL OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.
INSTALLATION AND SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.
UNPACKING THE HARDWARE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.
BOOT ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.
JUMPER SETTINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1. BOOT SELECTION JUMPER J2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2. TWO OR FOUR PHASE SELECTION JUMPER J3 . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3. JUMPER 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.
CONNECTING THE MODULE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
7
7
8
8
8
9
9
4.
FUNCTIONAL DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.
BLOCK DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.
M-MODULE INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1. MEMORY MAP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2. DUAL PORTED MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3. PAGE REGISTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.4. CONTROL REGISTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.5. IDENTIFICATION EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.6. INTERRUPT HANDLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.7. TRIGGER LINES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.
BOOTING THE M321 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1. BOOTING FROM ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2. BOOTING FROM RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.3. FIRMWARE DOWNLOAD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.
POWER STAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.
STEPPER MOTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1. 2-PHASE STEPPER MOTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2. 4-PHASE STEPPER MOTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.
HOME SENSORS INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
11
11
11
12
12
13
13
14
14
14
14
14
15
15
17
17
18
18
5.
T HE LOCAL FIRMWARE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.
HOST INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.
COMMAND SET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.
GENERAL COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.
HOST INTERRUPTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.
MOTION CONTROL COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.
POSITION MAINTENANCE COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.
BREAKPOINTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.
ABORT/BRAKE COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.
HOME DETECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10. SYNCHRONIZED MOTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
20
23
25
26
28
31
33
34
36
38
AcQuisition Technology bv
P.O. Box 627, 5340 AP
Oss, The Netherlands
3
3
3
3
3
4
4
Page 1 of 58
M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
5.11.
5.12.
5.13.
5.14.
5.15.
Version: 1.3
SOFTWARE SYNCHRONIZATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
POWER STAGE CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SERVICE COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
M322 COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EMERGENCY BRAKE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
40
42
43
44
6.
SOFTWARE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.
APIS SUPPORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1. CONCEPT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2. API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.3. CODE GENERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.
TYPE DEFINITIONS AND STRUCTURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.
FUNCTION REFERENCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.
SOFTWARE DISTRIBUTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
45
45
45
46
46
47
51
7.
ANNEX
7.1.
7.2.
7.3.
7.4.
7.5.
52
52
52
53
53
54
Page 2 of 58
................................................................
BIBLIOGRAPHY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
COMPONENT IMAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TECHNICAL DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DOCUMENT HISTORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EXAMPLE CODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AcQuisition Technology bv
P.O. Box 627, 5340 AP
Oss, The Netherlands
M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
1.
INTRODUCTION
1.1.
VALIDITY OF THE MANUAL
Version: 1.3
This user manual is of revision 1.3. The manual is valid for the M321/R1.x from AcQuisition
Technology bv, running firmware version R4.x.
1.2.
PURPOSE
This manual serves as instruction for the operation of the M321 Intelligent Stepper Motor Controller,
the connection of stepper motors and the integration on an M-module carrier. Furthermore it gives the
user additional information for special applications and configurations of the product. The APISbased example software and library are also discussed. Detailed information concerning the
individual assemblies (data sheets etc.) are not part of this manual. In the annex you will find a
bibliography.
1.3.
SCOPE
The scope of this manual is the usage of the M321 Stepper Motor Controller M-module with on-board
Power Amplifiers.
1.4.
DEFINITIONS, ACRONYMS AND ABBREVIATIONS
AcQ
APIS
M-module
Platform
AcQuisition Technology bv
AcQ Platform Interface Software
Mezzanine I/O concept according to the M-module specification
Combination of hardware and operating system
AcQuisition Technology bv
P.O. Box 627, 5340 AP
Oss, The Netherlands
Page 3 of 58
M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
1.5.
Version: 1.3
NOTES CONCERNING THE NOMENCLATURE
Hex numbers are indicated with a leading “0x”-sign: for example: 0x20 or 0xff.
File names are represented in italic: filename.txt
A code example is printed in courier.
The jumpers are designated by a 'J', and a serial number. When specifying whether a jumper should
be connected or removed it is referred to solely by this designation if it has only one position (e.g., 'J5
connected'). However, if the jumper has more than one position, it is also indicated which pins are
connected to each other (e.g. 'J8,1-2'). Pin 1 of a jumper is always marked in the configuration
diagram.
Figure 1 Example jumper nomenclature
In some illustrations jumpers are shown merely for purposes of orientation. In this case they are
indicated with a dotted line. Their correct setting is described in another chapter.
Active-low signals are represented by a trailing asterisks (i.e. IACK*).
1.6.
OVERVIEW
In chapter 2 a description of the M321 hardware can be found. The next chapter covers the
installation and setup of the module as well as the connection of the peripherals. Chapter 4 decribes
the operation and usage of the M321 in detail. Commands for the local firmware are explained in
chapter 5. AcQ provides APIS based example software for the M321 which is described in chapter 6.
The last chapter contains bibliography, component image, technical data, document history and a
programming example.
Page 4 of 58
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M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
2.
PRODUCT OVERVIEW
2.1.
INTRODUCTION
Version: 1.3
The M321-module is an Intelligent stepper motor controller M-module, based on an MC68332 micro
controller. The M321 has four on-board power amplifiers which can drive four phases. The module
can drive two 2-phase motors independently or one 4-phase motor.
Each controller channel has an associated home sensor input up front and a trigger line
TRIGA/TRIGB on row-C of the M-module connector.
The MC68332 executes local firmware, downloaded by the host through the M-module interface or
booted from ROM. Interaction with the host is done via a command structure in dual ported memory
and a mailbox which provides a polling and interrupt mechanism.
2.2.
TECHNICAL OVERVIEW
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MC68332 local 32-bit micro controller
64kByte RAM shared with the M-module bus
Up to 1MBit local EPROM or FLASH memory in socket
A08/D16 M-module interface
Mailbox with polling, host interrupt and local interrupt mechanism
Identification EEPROM
Executes local stepper motor firmware
Firmware bootable from local ROM or downloadable via the M-module bus
Firmware compatible with M322 controller for external amplifiers
Controls two 2-phase motors or one 4-phase motor, jumper selectable
The two axis in 2-phase controller mode are independent
Interrupts on position breakpoint, trajectory complete, etc
Four on-board power amplifiers deliver up to 3A @ 55VDC per phase
Motor power up to 300W with forced cooling
Motor power up to 50W without additional cooling
Amplifiers are bi-polar driving circuits in constant current driving mode
Over-current protection and thermal shutdown
Programmable hold current reduction
User configurable maximum current
Brake support
Full-, half-, and micro stepping capability
Micro stepping: up to 16 micro steps per full step
Two optical isolated industrial home sensor inputs
Step rates of up to 50 kHz
Programmable acceleration of 50Hz/s to 5000 kHz/s
Synchronous motion via TRIGA and TRIGB signals of the M-module interface.
AcQuisition Technology bv
P.O. Box 627, 5340 AP
Oss, The Netherlands
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M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
Version: 1.3
Intentionally left blank.
Page 6 of 58
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P.O. Box 627, 5340 AP
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M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
3.
INSTALLATION AND SETUP
3.1.
UNPACKING THE HARDWARE
Version: 1.3
The hardware is shipped in an ESD protective container. Before unpacking the hardware, make sure
that this takes place in an environment with controlled static electricity. The following
recommendations should be followed:
!
Make sure your body is discharged to the static voltage level on the floor, table and system
chassis, by wearing a conductive wrist-chain connected to a common reference point.
!
If a conductive wrist-chain is not available, touch the surface where the board is to be put
(like a table, a chassis etc.) before unpacking the board.
!
Leave the board only on surfaces with controlled static characteristics, i.e. specially designed
anti static table covers.
!
If handling the board over to another person, first touch this persons hand, wrist etc. to
discharge any static potential.
IMPORTANT: Never put the hardware on top of the conductive plastic bag in which the hardware is
shipped. The external surface of this bag is highly conductive and may cause rapid
static discharge causing damage. (The internal surface of the bag is isolating.)
Inspect the hardware to verify that no mechanical damage appears to have occurred.
Please report any discrepancies or damage to your distributor or to AcQuisition
Technology immediately and do not install the hardware.
3.2.
BOOT ROM
The M321 features a 32-pin JEDEC socket that can fit a (FLASH) EPROM containing the firmware.
The use of Flash EPROM’s, type AM29F010 from AMD, is recommended.
The MC68332 CPU boots from either dual ported RAM or local ROM. When booting from ROM, the
local CPU will start running after a system reset. When booting from RAM, firmware must be
downloaded and started by the host.
The boot method is configurable with jumper J2 for details please refer to section 3.3.1 and 4.3.
AcQuisition Technology bv
P.O. Box 627, 5340 AP
Oss, The Netherlands
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M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
3.3.
Version: 1.3
JUMPER SETTINGS
In the following paragraphs the jumper setting of the M321 is described. The figure below shows the
location and orientation of the jumpers.
Figure 2 M321 Jumpers
3.3.1. BOOT SELECTION JUMPER J2
With jumper J2, the M321 can be configured for booting from ROM or booting from RAM. The figure
below shows jumper J2 positions for both configurations.
Figure 3 Boot device selection
3.3.2. TWO OR FOUR PHASE SELECTION JUMPER J3
The M321 can be configured for driving either two 2-phase stepper motors or one 4-phase stepper
motor. The figure below shows the jumper settings for both controller operation modes.
Figure 4 Controller Mode Selection
Page 8 of 58
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M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
Version: 1.3
3.3.3. JUMPER 4
Jumper J4 is not user configurable and must be left open.
Figure 5 Jumper 4
3.4.
CONNECTING THE MODULE
This section gives an overview of the I/O pins of the M321 which are available on the DSUB-25 P3
connector at the front of the module. TRIGA and TRIGB on the M-module connector P1 are also
shown.
Signal Name
PWRAB
OUT1A
OUT2A
SENSEA
OUT1B
OUT2B
SENSEB
HOMEA+
HOMEAPWRCD
OUT1C
OUT2C
SENSEC
OUT1D
OUT2D
SENSED
HOMEB+
HOMEBGND
Pin #
Description
1,14
2
3
15
4
5
17
6
19
13,25
9
10
22
11
12
24
8
20
7,16,18,21,23
External power for phase A and B
Output 1 phase A
Output 2 phase A
Current sense output A
Output 1 phase B
Output 2 phase B
Current sense output B
Home sensor input A, anode of opto-coupler input
Home sensor input A, cathode of opto-couple input
External power for phase C and D
Output 1 phase C
Output 2 phase C
Current sense output C
Output 1 phase D
Output 2 phase D
Current sense output D
Home sensor input B, anode of opto-coupler input
Home sensor input B, cathode of opto-coupler input
Power ground
The picture below shows the connector lay-out.
25 pole D-sub
1
2
OUT2A 3
OUT1B 4
OUT2B 5
HOMEA+ 6
7
GND
HOMEB+ 8
OUT1C 9
OUT2C 10
OUT1D 11
OUT2D 12
PWRCD 13
PWRAB
OUT1A
14
15
16
17
18
19
20
21
22
23
24
25
PWRAB
SENSEA
GND
SENSEB
GND
HOMEAHOMEBGND
SENSEC
GND
SENSED
PWRCD
Figure 6 M321 Connector Layout
AcQuisition Technology bv
P.O. Box 627, 5340 AP
Oss, The Netherlands
Page 9 of 58
M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
Version: 1.3
For cabling, shielded multi-cable must be used with metal DSUB-25 connector shells. The shield
must be coaxial terminated to the metal shell.
For details on connecting stepper motors and home sensors refer to chapter 4.5 and 4.6.
The figure below shows the position of TRIGA and TRIGB on the M-module connector P1.
Figure 7 M321 M-module connector orientation
TRIGA and TRIGB are bi-directional and TTL compatible. The signal direction is controlled by the
local firmware. For a description of the usage refer to section 5.10. Connections of TRIGA and
TRIGB must be made on the M-module carrier board. For a full description of the M-module P1
connector please refer to the M-module specification.
Page 10 of 58
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P.O. Box 627, 5340 AP
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M321 - Stepper Motor Controller M-module with on-board Power Amplifiers
User Manual
4.
Version: 1.3
FUNCTIONAL DESCRIPTION
This chapter gives a detailed description of the M321. The M-module interface is described as well as
the power stages and the home sensor inputs.
4.1.
BLOCK DIAGRAM
Figure 8 M321 block diagram
4.2.
M-MODULE INTERFACE
4.2.1. MEMORY MAP
The following table shows the address map of the M321 module. All addresses are relative to the
base address of the module.
Offset
Width
0x00
Description
Dual ported memory window
0x80
16 bit
Page register
0x82
16 bit
Control register
0xfe
16 bit
EEPROM register
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4.2.2. DUAL PORTED MEMORY
The M321 features 64kByte dual ported memory. The dual ported memory on the M321 is divided in
512 pages of 128 bytes. The memory can be accessed by the host via a 128-byte memory window
and a page register. The dual ported memory window resides at offset 0x00 to 0x7e of the M-module
memory map.
CAUTION:
The dual ported memory is 16 data bit wide and should only be written using 16 bit
write accesses. Byte-writes to the dual ported memory are NOT supported, and will
result in undefined behaviour.
4.2.3. PAGE REGISTER
The dual ported memory of the M321 is accessed using a page register for the upper address bits.
The first 128 bytes of the address space of the M321 M-module is used as a "window" into the dual
ported memory as described in the previous section.
PAGEREG
15
10
not used
reset
Offset: 0x80
9
8
7
6
5
4
3
2
1
0
A16
A15
A14
A13
A12
A11
A10
. A9
A8
A7
x
x
x
x
x
x
x
x
x
x
Write only
A16-A7 Dual ported memory address bits
These bits determine the current dual ported memory page selected. A page has a length of
128 bytes (A6-A0).
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4.2.4. CONTROL REGISTER
With the control register the local reset of the M321 M-module can be controlled. Furthermore the
control register provides a mailbox. The mailbox controls interrupts to and from the module and
provides a polling mechanism.
CTRL
15
Offset: 0x82
4
not used
reset:
3
2
1
0
PBIT
RESET
LIRQ
HIRQ
0
1
0
0
Read/Write
PBIT
Poll Bit
When read, this bit reflects the state of the Poll Bit either ‘0' or ‘1'. This bit can be cleared by
the host by writing a one ‘1' and set by the local CPU. Writing a zero ‘0' has no effect.
RESET Local reset
When asserted, the M321 will be kept in reset state and pending interrupt requests will be
cleared. After power-up the reset bit is set, however when the module is configured for
booting from ROM (J2 in 2-3 position) the reset bit is cleared automatically.
LIRQ
Local Interrupt request
When asserted an interrupt request to the local CPU (MC68332) will be made.
HIRQ
Host Interrupt Request
This bit reflects the state of the host interrupt line, one '1' means asserted. Writing a one ‘1' to
this location clears the pending interrupt.
4.2.5. IDENTIFICATION EEPROM
The identification of an M-module is implemented using a serial EEPROM with a 64*16 word
organisation. The industry-standard component 93C46 is used in order to make the identification
compatible throughout the complete range of available modules. Access to the identification
EEPROM takes place through the following register:
EEPROM
15
Offset: 0xFE
4
not used
reset:
3
2
1
0
unused
CS
CLK
DI/O
0
0
0
x
Read/Write
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CS Chip-Select
This bit corresponds to the chip select input of the EEPROM.
CLK Clock
This bit corresponds to the clock input of the EEPROM.
DI/O Data input/output
This bit corresponds to the data input of the EEPROM when writing, and data output of the
EEPROM when reading.
For information on controlling the EEPROM refer to the NM93C46 data sheets. A software example
can be found in the file ideeprom.c that is part of the software distribution. For information on the
memory organization refer to the M-module Specification.
4.2.6. INTERRUPT HANDLING
The M321 is capable of generating interrupts of type A, software-end-of-interrupt. In the interrupt
service routine the host must acknowledge the interrupt by writing a one to the host interrupt request
bit in the control register. Because the M321 is not capable of delivering an interrupt vector, this must
be handled by the carrier board.
4.2.7. TRIGGER LINES
The two trigger lines on the row-C of the M-module connector are used to provide a synchronization
mechanism between stepper motor controllers. For details refer to section 5.10.
4.3.
BOOTING THE M321
The MC68332 micro controller of the M321 executes firmware from local memory. The module can
be configured for booting from ROM or booting from RAM.
4.3.1. BOOTING FROM ROM
For this option an EPROM or FLASH containing valid firmware must be inserted in the JEDEC socket
U14 and Jumper J2 must be set in the 2-3 position.
After power-up the module will boot from ROM without host interaction. When the PBIT in the control
register is set the module is ready for accepting control commands.
Communication with the M321 takes place via a command structure that resides in the dual ported
memory at page 4.
CAUTION:
Write accesses to the dual ported memory at pages other than page 4, may result in
erroneous behaviour.
4.3.2. BOOTING FROM RAM
When the module is configured for booting from RAM (jumper J2 in 1-2 position), at power-up the
M321 is kept in reset state. Before any control operations are available, firmware has to be
downloaded to the dual ported memory by the host.
Firmware must copied to the dual ported memory starting at offset 0 in page 0 using 16 bit wide write
accesses.
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The M321 local CPU must be started by clearing the RESET bit in the control register. When the
PBIT in the control register is set the module is ready for accepting control commands.
Communication with the M321 takes place via a command structure in the dual ported memory at
page 4.
CAUTION:
Once the firmware is started any write accesses to the dual ported memory at pages
other than page 4, may result in erroneous behaviour.
4.3.3. FIRMWARE DOWNLOAD
The M321 software distribution contains an example for downloading the firmware:
! m321lib.c
This is an ANSI-C APIS-based-library that contains host interface functions, one of the
functions is m321_boot() which loads the firmware image stored in memory. For disk-less
applications the firmware image can be supplied as an array of constants declared in ANSI-C
source code (m321firm.c).
4.4.
POWER STAGES
The M321 has four LMD18254 full bridge power amplifiers. Every power stage drives one phase of a
bipolar stepper motor. The H-bridge power stages deliver continuous output currents up to 3A at
supply voltages between 12 and 55 V.
The M321 can be configured for driving two 2-phase stepper motors independently (two power
stages combined, jumper J3 open) or one 4-phase stepper motor (four power stages combined,
jumper J3 closed).
NOTE: The maximum power dissipation of the M321 power circuit is 300W with forced cooling. The
maximum power without additional cooling is 50W.
A thermal protection circuit shuts down the driver when the junction temperature reaches +155EC.
The output current is sensed and controlled independently in each bridge with external sense
resistors, internal comparator, and monostable multivibrator. The output current limit can be
configured with the external sense resistors.
The figure below shows the power-stage circuitry of phase pair A/B with external sense resistors (the
power-stages of phase pair C/D are similar).
Figure 9 Power-stage pair
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!
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Output Current Limitation
The load current limit is resistor programmable according to the following formula:
Rsense'
20
Imax
kS
In this formula I max is the current limit and Rsense the sense resistor. The sense resistor must
be connected between the sense output of the power stage and the ground. Every power
stage has a corresponding sense output (stage A: SENSEA......stage D: SENSED).
NOTE: The current through the sense resistor has a 1:4000 ratio with respect to the winding
current. Therefore the maximum dissipation of the sense resistor is less then 50mW
(3A@55V)
!
Driving Mode
The power stages are driven in constant current driving mode with an off-time of 50µs. With
this method the motor voltage applied to the motor windings must be fairly higher than the
rated voltage to keep the current constant.
The power stages can drive bipolar stepper motors. Unipolar motors can be used but must
be connected in bipolar mode. The use of motors with low winding resistance is
recommended.
By default, stepper motors are driven in full-step mode. However, the M321 is software
programmable for driving phases in half-step mode or micro-step mode up to 16 micro-steps
per full step.
Micro-stepping is accomplished by gradually increasing and decreasing the phase current, on
the M321, this is done by alternating the output current limit dynamically.
!
External Power Supply
The external power supply for the drivers is connected to the modules front connector. The
power supply consists of two independent circuits, one for the drivers 7A and B and one for
the drivers C and D.
The external power supply must be able to drive the motor windings with the configured
maximum current Imax . The power supply must be in the range of 12 V to 55 V.
For a detailed description please refer to the LMD18254 Data Sheet from National Semiconductor.
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4.5.
Version: 1.3
STEPPER MOTORS
This section shows how stepper motors can be connected to the M321.
4.5.1. 2-PHASE STEPPER MOTOR
In this mode jumper J3 must be open. The figure below shows how two 2-phase bipolar stepper
motors are driven by the M321.
Figure 10
Connecting two 2-phase stepper motors
Although the M321 features bipolar driving circuitry, it is possible to connect unipolar stepper motors.
Therefore the winding pairs of the unipolar motor must be connected to one power stage, either in
parallel or in serial. Parallel connection is recommended, because constant current driving mode
requires a low winding resistance.
For details on driving a unipolar stepper motor with the bipolar driving circuit of the M321 refer to the
product documentation of the connected stepper motor.
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4.5.2. 4-PHASE STEPPER MOTOR
In this mode jumper J3 must be closed. The figure below shows how a 4-phase bipolar stepper motor
is driven by the M321.
Figure 11
Connecting a 4-phase stepper motor
Depending on the stepper motor, it is possible to connect a unipolar stepper motor in bipolar mode to
the M321. Refer to the stepper motor documentation for details.
4.6.
HOME SENSORS INPUTS
The M321 features two sensor inputs HOMEA and HOMEB. In 2-phase control mode HOMEA
corresponds to stepper motor A (phase A and phase B) and HOMEB corresponds to motor B (phase
C and phase D). In 4-phase mode only one stepper motor can be driven, the corresponding home
sensor input is HOMEA, HOMEB is not used in this mode.
A home sensor input consists of an opto-coupler input, which is protected for reverse connection and
has a leakage current protection. Default the home inputs are rated at 5V@10mA.
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The figure below shows the input circuitry of home sensor A, home sensor B input is
similar.
Figure 12
Home sensor input
When the opto-coupler LED is on the logical HOME signal is low, when the opto-coupler LED is off
the logical level is high.
To adapt the home sensor input for supply ranges greater then 5V, the current must be reduced to
approximately 10mA, by a serial resistor Rs. The table below shows the serial resistors for some
supply ranges.
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U
Rs
5V
12 V
24 V
620E
1k8
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5.
Version: 1.3
THE LOCAL FIRMWARE
This chapter is valid for the local firmware of revision R4.x. The M321 is compatible with the M322
stepper motor controller for external power amplifiers. The local firmware for the M321 is the same as
for the M322 and is called ‘m321firm’.
5.1.
HOST INTERFACE
Communication between the host and the local CPU takes place through the command structure and
the mailbox. The command structure resides at page 4 of the dual ported memory and the mailbox
can be accessed via the control register on the M321. The offsets in this command structure are
defined in the C-source file m321defs.h that can be found in the annex.
The command structure is defined as follows:
typedef struct
{
UINT16 cmd;
UINT16 result;
UINT16 p[32];
UINT16 irqstat;
} CMD;
/* command structure at local address CMDSTRUCT */
/*
/*
/*
/*
command, offset C_CMD */
execution result, offset C_RES */
parameter list, offset C_PRF */
interrupt request status, offset C_IRQ */
Communication must take place in one of the following two methods:
!
Polling
This method uses the POLL bit in the control register. First the host CPU must clear the
POLL bit, by writing a logic ‘1', then the host must write the parameters (if any) followed by
the command (always last) in the cmd field. The local CPU checks the command and takes
the appropriate action. When the command is handled the local CPU writes the return
parameters and sets the result, finally the POLL bit will be set which indicates that the
command handling is completed.
ANSI-C example of polling based host interface
int m321_poll (APIS_HANDLE handle)
{
UINT16 data;
int i;
for (i = 0; i < 1000; i++) { /* Time out mechanism */
/* read control register-word */
apis_read(handle, sizeof(UINT16), CTRLREG, &data);
if (data & POLL)
return 0; /* if poll bit is in ready state */
apis_delay(1);
}
return -1;
/* time out! */
}
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Version: 1.3
Host Interrupt.
This method is software selectable using the MSKI command and causes the local CPU to
generate a host interrupt request on completion of the command handling. The interrupt
service routine of the host must clear the pending interrupt by writing a logic ‘1' to the HIRQ
bit in the control register. In firmware revision R4.0 and up the host must acknowledge
interrupts with the IACK command. For details on the IACK and MSKI commands refer to
section 5.4.
An ANSI-C example of an interrupt-driven host interface:
#define
#define
#define
#define
#define
#define
IMASK
P_EDGE
EDGERISE
EDGEFALL
IRQ_HOME_A
IRQ_ALL
0
0
1
0
0x0020
0x00ff
/*
/*
/*
/*
/*
/*
interrupt mask */
programmable home detection edge */
Rising edge detection */
Falling edge detection */
home detected motor A */
all interrupts */
/* Interrupt-test for a command-executed interrupt */
printf("Test IRQ for HOME input\n");
/*
* Set Mask to HOME_A_IRQ
* Give mask-interrupt command
*/
args[IMASK] = (IRQ_HOME_A);
result = m321_cmd(&handle, MSKI, args, 1, 0);
if (result != 0) {
printf("ERROR: MSKI command failed: 0x%04x\n", result);
exit(1);
/* Failure */
}
/* Clear all interrupt bits in the status word */
m321_clistat (&handle, IRQ_ALL);
/*
* Interrupt on falling edge
* send SIG_HOME_A command
* await its interrupt
*/
args[P_EDGE] = EDGEFALL;
result = m321_cmd(&handle, SIG_HOME_A, args, 1, 0);
if (result != 0) {
printf("ERROR: Command failed: 0x%04x\n", result);
exit(1);
/* Failure */
}
do {
if (m321_waitforirq() != 0)
break;
/* interupt received, but not from module */
} while (!(m321_gtistat(&handle) & IRQ_HOME_A)); /* IRQ received? */
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The table below lists the possible errors and warnings of the result field:
Result Code
Hex
Description
NOERR
0x0000
no error
VIOLATION
0x8888
ERROR: protocol violation
UNKCMD
0x8001
ERROR: unknown command
PRANGE
0x8002
ERROR: parameter out of range
EXCPERR
0x8003
ERROR: general exception error
LOCBERR
0x8004
ERROR: local bus error
LOCAERR
0x8005
ERROR: local address error
LOCILL
0x8006
ERROR: illegal instruction
SPURINT
0x8007
ERROR: spurious interrupt
INVREQ
0x8008
ERROR: invalid request
BUSY
0x8009
ERROR: waiting for external triggering
PROFERR
0x800A
ERROR: error in motion profile
FLASHERR
0x800B
ERROR: flash program error
The table below lists the interrupt status bits of the irqstat field:
Interrupt Status
Hex
Description
IRQ_BLANK
0x0000
Nothing to report
IRQ_CMDDONE
0x0001
Command executed
IRQ_BRKPT_A
0x0002
Breakpoint motor A
IRQ_BRKPT_B
0x0004
Breakpoint motor B
IRQ_TRAJ_A
0x0008
Trajectory complete motor A
IRQ_TRAJ_B
0x0010
Trajectory complete motor B
IRQ_HOME_A
0x0020
Home detected motor A
IRQ_HOME_B
0x0040
Home detected motor B
IRQ_EXCEPTION
0x0080
Internal exception error
An interrupt flag in the interrupt status field set, means that the corresponding event has occurred,
the flag must be cleared by the host CPU. Interrupt flags are updated regardless whether or not the
corresponding interrupt is enabled.
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5.2.
Version: 1.3
COMMAND SET
The table below gives an overview of the commands available to the host CPU.
Command
Hex
Description
DONE
0x0000
command completed
SYNC
0x5a5a
synchronize firmware, sign of live
VERSION
0x0001
returns version information
MSKI
0x0020
mask/un-mask interrupts
IACK
0x0030
acknowledge interrupts
SET_MODE_A *
0x0200
set driving mode (full-, half- or micro-stepping) motor A
SET_MODE_B *
0x0201
set driving mode (full-, half- or micro-stepping) motor B
PROF_ABS_A
0x0300
absolute trapezoidal movement motor A
PROF_ABS_B
0x0301
absolute trapezoidal movement motor B
PROF_REL_A
0x0400
relative trapezoidal movement motor A
PROF_REL_B
0x0401
relative trapezoidal movement motor B
GET_POS_A
0x0500
get current position of motor A
GET_POS_B
0x0501
get current position of motor B
SET_POS_A
0x0600
set home position of motor A
SET_POS_B
0x0601
set home position of motor B
SET_BPA_A
0x0700
set absolute breakpoint motor A
SET_BPA_B
0x0701
set absolute breakpoint motor B
SET_BPR_A
0x0800
set relative breakpoint motor A
SET_BPR_B
0x0801
set relative breakpoint motor B
BRAKE_A *
0x0900
shorten motor A windings( phase A and B)
BRAKE_B *
0x0901
shorten motor B windings (phase C and D)
SET_HC_A *
0x0a00
set hold current reduction factor motor A
SET_HC_B *
0x0a01
set hold current reduction factor motor B
SK_HOME_A
0x0b00
seek home motor A
SK_HOME_B
0x0b01
seek home motor B
RD_HOME_A
0x0c00
read home sensor A status
RD_HOME_B
0x0c01
read home sensor B status
SIG_HOME_A
0x0d00
signal transition on home input A
SIG_HOME_B
0x0d01
signal transition on home input B
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Command
Hex
Description
SYNC_A
0x0e00
enable synchronized motion A
SYNC_B
0x0e01
enable synchronized motion B
SWSYNC_A
0x0e10
enable software synchronization motor A
SWSYNC_B
0x0e11
enable software synchronization motor B
GO_A
0x0e20
start pending motion A
GO_B
0x0e21
start pending motion B
ABORT_A
0x0f00
abort profile A
ABORT_B
0x0f01
abort profile B
GPOUT0_A **
0x1000
set/clear general purpose output 0 A
GPOUT0_B **
0x1001
set/clear general purpose output 0 B
GPOUT1_A **
0x2000
set/clear general purpose output 1 A
GPOUT1_B **
0x2001
set/clear general purpose output 1 B
GPOUT2_A **
0x3000
set/clear general purpose output 2 A
GPOUT2_B **
0x3001
set/clear general purpose output 2 B
DEBUG
0x8001
service command: debug
FLASHPRG
0x8002
service command: program byte in flash
FLASHVER
0x8003
service command: read byte from flash
FLASHCLR
0x8004
service command: clear flash
FLASHEN
0x8005
service command: enable flash programming
Version: 1.3
* These commands are only available on the M321. Calling one of these commands on a M322 will
result in the error code INVREQ.
** These commands are not available on the M321. Calling one of these commands on a M321 will
result in the error code INVREQ.
The following sections give a detailed description of the commands arranged by functionality.
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5.3.
Version: 1.3
GENERAL COMMANDS
This section describes general commands that are provided for obtaining firmware information.
SYNC
Command:
Inputs:
Outputs:
Sign Of Live
0x5a5a
None
None
Function:
This function is intended to check whether or not the MC68332 is running. The local software
takes no special action and terminates the execution normally: set the result field to NOERR,
set the POLL bit in the control register, clear the cmd field and generate a host interrupt if not
masked.
VERSION
Command:
Inputs:
Outputs:
Get Module Information
0x0001
None
VERINFO structure
Function:
This function returns information about the hardware configuration and the firmware. The
return information is defined with the following structure:
typedef struct {
UINT16 firm_rev;
UINT16 mod_type;
UINT16 ctrl_mode;
} VERINFO;
/* firmware revision */
/* module type */
/* controller mode */
The firmware revision is a decimal between 0 and 99, e.g. 10 means revision 1.0. The
module type must be 1 which indicates that the firmware is running on an M321.
The controller mode is the jumper configured mode of operation, zero means 2-phase mode
and non-zero means 4-phase mode.
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5.4.
Version: 1.3
HOST INTERRUPTS
The M321 can generate host interrupts. There are various interrupt sources that use the host
interrupt request. Commands are provided to (un)mask and acknowledge interrupts individually. This
section gives a description of the interrupt related commands.
An example of an interrupt service routine can be found in m321lib.c as:
static int m321_irqh (APIS_HANDLE, volatile UINT16 *);
MSKI
Command:
Inputs:
Outputs:
/* int. handler */
(Un-)Mask Interrupts
0x0020
Interrupt mask
None
Function:
A bit set in the interrupt mask will enable the corresponding interrupt, a bit cleared will disable
the interrupt. Every interrupt source has a corresponding bit defined in the interrupt mask.
The mask is defined as follows:
Page 26 of 58
Flag
Hex
Description
IRQ_BLANK
IRQ_CMDDONE
IRQ_BRKPT_A
IRQ_BRKPT_B
IRQ_TRAJ_A
IRQ_TRAJ_B
IRQ_HOME_A
IRQ_HOME_B
IRQ_EXCEPTION
IRQ_ALL
0x0000
0x0001
0x0002
0x0004
0x0008
0x0010
0x0020
0x0040
0x0080
0x00ff
nothing to report
command executed
breakpoint motor A
breakpoint motor B
trajectory complete motor A
trajectory complete motor B
home detected motor A
home detected motor B
internal exception error
all interrupts
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IACK
Command:
Inputs:
Outputs:
Version: 1.3
Acknowledge Interrupts
0x0030
Interrupt status
None
Function:
The M321 uses one interrupt line for all interrupt sources. Whenever an interrupt request is
generated the pending interrupt must be cleared via the control register (see section 4.2.4).
The nature of the event(s) responsible for generating the interrupt must be obtained from the
interrupt status field in the command register. A bit set means the interrupt request is active.
The IACK command must be executed to acknowledge pending interrupts. Parameter 0 must
contain the interrupt status.
A bit set in the interrupt status will acknowledge the corresponding interrupt.. Every interrupt
source has a corresponding bit defined in the interrupt status. The status is defined as
follows:
Flag
Hex
Description
IRQ_BLANK
IRQ_CMDDONE
IRQ_BRKPT_A
IRQ_BRKPT_B
IRQ_TRAJ_A
IRQ_TRAJ_B
IRQ_HOME_A
IRQ_HOME_B
IRQ_EXCEPTION
IRQ_ALL
0x0000
0x0001
0x0002
0x0004
0x0008
0x0010
0x0020
0x0040
0x0080
0x00ff
nothing to report
command executed
breakpoint motor A
breakpoint motor B
trajectory complete motor A
trajectory complete motor B
home detected motor A
home detected motor B
internal exception error
all interrupts
It is allowed to clear more than one pending interrupt simultaneously with the IACK
command. As a result of the IACK command not acknowledged (pending) interrupts will
cause a new host interrupt request.
The IACK command is a ‘special’ command because on completion no host interrupt is
generated regardless wether or not the CMDDONE interrupt is enabled. Also the result field
is not affected and the polling bit is not set.
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5.5.
Version: 1.3
MOTION CONTROL COMMANDS
The commands in this section are provided to request a motion profile.
PROF_ABS_A
Command:
Inputs:
Outputs:
Absolute Motion Motor A
0x0300
Motion profile structure: PROFILE
Undefined
Function:
This command is provided to request a trapezoidal movement with an absolute end-position
for motor A. The PROFILE structure is defined as follows:
typedef struct {
UINT32 rise_freq;
UINT32 drive_freq;
UINT32 acceleration;
INT32 position;
} PROFILE;
/*
/*
/*
/*
rise-up frequency */
drive frequency */
acceleration */
signed absolute position */
! rise-up frequency
The rise-up frequency must have a value between 15 Hz and the requested drive
frequency.
! drive frequency
The drive frequency must have a value between the rise-up frequency and the
maximum of 50.000 Hz.
! acceleration
The acceleration must be between 50 Hz and 5.000.000 Hz/s
! position
Position is a signed 32 bit value. The stepper motor algorithm maintains a motor
position between - 2
31
and
( 2 31 − 1) . At reset the absolute position is 0.
If a profile parameter does not comply with the requirements as mentioned above, the
command returns PRANGE.
The motion direction depends on the current position. Internally a relative movement is
calculated by subtracting the current position from the required absolute position.
The rise-up and drive frequency are defined in pulses per second. The rotation speed
depends on the stepper motor’s number of steps per revolution and the driving mode (fullstep, half-step, etc.).
For instance a stepper motor with 200 steps/rev in half-step mode driven at drive_freq has a
regular speed of ( drive_ freq / 200 / 2 ) rev/sec.
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The command will return as soon as the motion profile is started, then the channel is ready to
accept new commands. When a profile is completed the IRQ_TRAJ_A flag of the interrupt
status in the command structure is set (make sure to clear the flag before the motion
command is given).
The figure below shows the trapezoidal drive as a result of a requested motion profile.
Figure 13
Trapezoidal Motion Profile
On-the-fly changing of the end-point position is allowed with this command. When the new
position is in the current direction the end-point is changed, the other profile parameters are
discarded and remain as they were. If the new position is in the reverse direction, the current
motion is aborted and a new motion profile in the reverse direction is started.
The length of the acceleration trajectory is limited to 5000 pulses and is internally calculated
using the following formula:
f 2 e − fo 2
sa =
2 ⋅a
s a = length of acceleration trajectory in [pls]
a = acceleration in [Hz / s]
f o = rise - up frequency in [Hz]
fe = drive frequency in [Hz]
If the requested motion parameters result in an acceleration trajectory longer then 5000
pulses the code PROFERR is returned.
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EXAMPLE:
A motion profile of 200 steps, rise-up frequency of 100 Hz and a drive-frequency of 1000 Hz.
The acceleration should be 100 kHz/sec.
The motion profile would look like this:
profile->rise_freq = 100;
profile->drive_freq = 1000;
profile->acceleration = 100000;
profile->position = 200;
The parameter field of the command structure would look like this:
cmd->p[0]
cmd->p[1]
cmd->p[2]
cmd->p[3]
cmd->p[4]
cmd->p[5]
cmd->p[6]
cmd->p[7]
=
=
=
=
=
=
=
=
0x0064;
0x0000;
0x0000;
0x03e8;
0x0001;
0x86a0;
0x0000;
0x0200;
/*
/*
/*
/*
/*
/*
/*
/*
rise-up freq. MSB */
rise-up freq. LSB */
drive freq. MSB */
drive freq. LSB */
acceleration MSB */
acceleration LSB */
position MSB */
position LSB */
NOTE:
It is the responsibility of the programmer to request a motion profile that suits the
connected stepper motor !!!!!
RESTRICTION:
One stepper motor can be driven at the full speed of 50kHz. Two motors can run up
to 20kHz simultaneously.
PROF_ABS_B
Command:
Inputs:
Outputs:
Absolute Motion Motor B
0x0301
Motion profile structure: PROFILE
Undefined
Function:
This command is provided to request a trapezoidal movement for motor B with an absolute
end-point.
See Also:
Page 30 of 58
PROF_ABS_A
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PROF_REL_A
Command:
Inputs:
Outputs:
Version: 1.3
Relative Motion Motor A
0x0400
Motion profile structure: PROFILE
Undefined
Function:
This command is provided to request a trapezoidal movement for motor A with a relative endposition. This command is comparable with PROF_ABS_A. But now the position parameter
is defined relative to the current position. The motion direction depends on the sign of the
position parameter.
See Also:
PROF_ABS_A
PROF_REL_B
Command:
Inputs:
Outputs:
Relative Motion Motor B
0x0401
Motion profile structure: PROFILE
Undefined
Function:
This command is provided to request a trapezoidal movement with a relative end-position for
motor B. This command is comparable with PROF_ABS_B. But now the position parameter
is defined relative to the current position. The motion direction depends on the sign of the
position parameter.
See Also:
5.6.
PROF_ABS_A
POSITION MAINTENANCE COMMANDS
The following commands are provided for reading and manipulating the current motor positions.
GET_POS_A
Command:
Inputs:
Outputs:
Get Current Position Motor A
0x0500
None
32 bit position
Function:
Get the current position of Motor A, 32 bit signed value.
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GET_POS_B
Command:
Inputs:
Outputs:
Version: 1.3
Get Current Position Motor B
0x0501
None
32 bit position
Function:
Get the current position of Motor B, 32 bit signed value.
SET_POS_A
Command:
Inputs:
Outputs:
Set Current Position Motor A
0x0600
32 bit position
None
Function:
Set the current position of Motor A, 32 bit signed value.
SET_POS_B
Command:
Inputs:
Outputs:
Set Current Position Motor B
0x0601
32 bit position
None
Function:
Set the current position of Motor B, 32 bit signed value.
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5.7.
Version: 1.3
BREAKPOINTS
The following commands are provided to specify breakpoints in a motion profile. On a breakpoint
detected, the interrupt status is updated and depending on the interrupt mask a host interrupt request
will be generated or not.
SET_BPA_A
Command:
Inputs:
Outputs:
Set Absolute Breakpoint Motor A
0x0700
32 bit position
None
Function:
Set an absolute breakpoint for motor A. The input parameter is a 32 bit signed value. The
breakpoint is recognized when the motor’s current position becomes equal to the breakpoint.
This is signalled with the IRQ_BRKPT_A interrupt flag in the interrupt status field of the
command structure. When the motor stops on a breakpoint, the breakpoint is signalled only
once.
The interrupt status flag must be cleared by the host CPU using the IACK command.
SET_BPA_B
Command:
Inputs:
Outputs:
Set Absolute Breakpoint Motor B
0x0701
32 bit position
None
Function:
Set an absolute breakpoint for motor B. The corresponding interrupt flag is IRQ_BRKPT_B.
See Also:
SET_BPA_A
SET_BPR_A
Command:
Inputs:
Outputs:
Set Relative Breakpoint Motor A
0x0800
32 bit position
None
Function:
Set breakpoint for motor A, relative to the current position. The input parameter is a 32 bit
signed value. Internally the absolute breakpoint is calculated as the current position
increased or decreased (depending on the sign) with the relative breakpoint.
The breakpoint is reached when the motor’s current position becomes equal to the
breakpoint. This is signalled with the IRQ_BRKPT_A interrupt flag in the interrupt status field
of the command structure.
The interrupt status flag must be cleared by the host CPU using the IACK command.
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SET_BPR_B
Command:
Inputs:
Outputs:
Version: 1.3
Set Relative Breakpoint Motor B
0x0801
32 bit position
None
Function:
Set a relative breakpoint for motor B. The corresponding interrupt flag is IRQ_BRKPT_B.
See Also:
5.8.
SET_BPR_A
ABORT/BRAKE COMMANDS
The following commands are provided to abort motion profiles or to make emergency stops.
ABORT_A
Command:
Inputs:
Outputs:
Abort Profile A
0x0f00
None
None
Function:
Abort motion profile motor A. This command is provided to abort an active motion of a
stepper motor. As a result of this command the motion profile goes directly to the
deceleration trajectory.
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ABORT_B
Command:
Inputs:
Outputs:
Version: 1.3
Abort Profile B
0x0f01
None
None
Function:
Abort motion profile motor B. This command is provided to abort an active motion of a
stepper motor. As a result of this command the motion profile goes directly to the
deceleration trajectory.
BRAKE_A
Command:
Inputs:
Outputs:
Assert Brakes Motor A
0x0900
None
None
Function:
This command will assert brakes of motor A by shorten the phase windings. Any active
motion profile will be terminated immediately. This function is only available on an M321.
WARNING:
This brake command shortens the motor windings, depending on the stepper motor and its
load it is possible that the torque is not enough to hold the motor in the same position.
BRAKE_B
Command:
Inputs:
Outputs:
Assert Brakes Motor B
0x0901
None
None
Function:
This command will assert brakes of motor B by shorten the phase windings. Any active
motion profile will be terminated immediately. This function is only available on a M321,
configured for two 2-phase motors.
WARNING:
This brake command shortens the motor windings, depending on the stepper motor and its
load it is possible that the torque is not enough to hold the motor in the same position.
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5.9.
Version: 1.3
HOME DETECTION
The M321 has two home detection inputs. This section describes the home input related commands.
SK_HOME_A
Command:
Inputs:
Outputs:
Seek Home A
0x0b00
Motion profile PROFILE and detection edge.
Undefined
Function:
As a result of this command motor A starts moving as with the PROF_REL_A command. But
when a transition on the corresponding home input is detected the motion profile is aborted,
the current position is set to zero and the interrupt flag IRQ_HOME_A is set. If the
corresponding interrupt is enabled, a host interrupt is generated. The detection edge is
programmable (parm #8) and must be either (0) for falling edge or (1) for rising edge
detection.
See Also:
PROF_REL_A
SK_HOME_B
Command:
Inputs:
Outputs:
Seek Home B
0x0b01
Motion profile PROFILE and detection edge
Undefined
Function:
As a result of this command motor B starts moving as with the PROF_REL_B command. But
when a transition on the corresponding home input is detected the motion profile is aborted,
the current position is set to zero, the current position is set to zero and the interrupt flag
IRQ_HOME_B is set. If the corresponding interrupt is enabled, a host interrupt is generated.
The detection edge is programmable (parm #8) and must be either (0) for falling edge or (1)
for rising edge detection.
See Also:
PROF_REL_B
RD_HOME_A
Command:
Inputs:
Outputs:
Read Home Sensor A
0x0c00
None
Home sensor status
Function:
This command returns the status of the home sensor input A in parameter #0, zero means
input low and one means input high.
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RD_HOME_B
Command:
Inputs:
Outputs:
Version: 1.3
Read Home Sensor B
0x0c01
None
Home sensor status
Function:
This command returns the status of the home sensor input B in parameter #0, zero means
input low and one means input high.
SIG_HOME_A
Command:
Inputs:
Outputs:
Signal Home Detection A
0x0d00
Detection edge
None
Function:
This command causes the firmware to signal a transition on the corresponding home input.
The transition edge is programmable (parm #0) and must be either (0) for falling edge or (1)
for rising edge detection. Signalling is done by setting the IRQ_HOME_A flag in the interrupt
status register of the command structure. When the corresponding interrupt is enabled a host
interrupt request is generated. After a home signal has been detected the host must clear the
related interrupt flag and this function is terminated. For a next home detection the command
must be given again.
SIG_HOME_B
Command:
Inputs:
Outputs:
Signal Home Detection B
0x0d01
Detection edge
None
Function:
Signal home detection for channel B. The corresponding interrupt flag is IRQ_HOME_B.
See Also:
SIG_HOME_A
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Version: 1.3
5.10. SYNCHRONIZED MOTION
The M321 features a trigger I/O line for each motor, on row-C of the M-module connector: TRIGA and
TRIGB. These lines are provided for synchronizing motion between motors controlled by M321 or
M322 modules. All stepper motor channels that have to be synchronized must be connected via their
corresponding trigger line.
When this function is enabled for a motor channel the corresponding trigger line is pulled low. When
a motion profile is started, the trigger line is switched as an input and the movement begins when
every module connected to the trigger line and with synchronous motion enabled, has released the
line by switching over to input.
SYNC_A
Command:
Inputs:
Outputs:
Enable Synchronized Motion A
0x0e00
Mode
None
Function:
This command is provided to enable (parm #0 is 1) or disable (parm #0 is 0) synchronized
motion for motor A.
SYNC_B
Command:
Inputs:
Outputs:
Enable Synchronized Motion B
0x0e01
Mode
None
Function:
This command is provided to enable (parm #0 is 1) or disable (parm #0 is 0) synchronized
motion for motor B.
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5.11. SOFTWARE SYNCHRONIZATION
The M321 provides a set of commands for software synchronization. With this mechanism it is
possible to setup a motion profile that becomes pending. With an additional command the pending
motion must be triggered, as a result the previously processed motion profile is started immediately.
SWSYNC_A
Command:
Inputs:
Outputs:
Setup Software Synchronization A
0x0e10
Mode
None
Function:
This command is provided to enable (parm #0 is 1) or disable (parm #0 is 0) software
synchronization for motor A. When a motion is requested using PROF_ABS_A or
PROF_REL_A with software synchronization enabled, the motion becomes pending. With
the command GO_A the motion must be started.
See Also:
GO_A, PROF_ABS_A, PROF_REL_A
SWSYNC_B
Command:
Inputs:
Outputs:
Setup Software Synchronization B
0x0e11
Mode
None
Function:
This command is provided to enable (parm #0 is 1) or disable (parm #0 is 0) software
synchronization for motor B. When a motion is requested using PROF_ABS_B or
PROF_REL_B with software synchronization enabled, the motion becomes pending. With
the command GO_B the motion must be started.
See Also:
GO_B, PROF_ABS_B, PROF_REL_B
GO_A
Command:
Inputs:
Outputs:
Start Pending Motion A
0x0e20
Mode
None
Function:
When software synchronization is enabled with SWSYNC_A and a motion is requested using
PROF_ABS_A or PROF_REL_A, the motion becomes pending. With the command GO_A
the motion must be started.
See Also:
SWSYNC_A, PROF_ABS_A, PROF_REL_A
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GO_B
Command:
Inputs:
Outputs:
Version: 1.3
Start Pending Motion B
0x0e21
Mode
None
Function:
When software synchronization is enabled with SWSYNC_B and a motion is requested using
PROF_ABS_B or PROF_REL_B, the motion becomes pending. With the command GO_B
the motion must be started.
See Also:
SWSYNC_B, PROF_ABS_B, PROF_REL_B
5.12. POWER STAGE CONTROL
The functions in this section are only available on the M321. If the M321 is configured for 4-phase
control then the functions for controlling Motor B are not available.
SET_MODE_A
Command:
Inputs:
Outputs:
Set Drive Mode Motor A
0x0200
Drive mode
None
Function:
Select a drive mode for motor A. The table below gives an overview of the driving modes:
*
**
Page 40 of 58
Fsteps/ step
Mode
Hex
Description
FULLSTEP
HALFSTEP
QUARTSTEP
QUADSTEP
HEXSTEP
MICROSTEP
ONEPHASE
0x0001
0x0002
0x0004
0x0008
0x0010
0x0020
0x0040
full step
half step
quart step
quad step
hex step
micro step*
one phase excitation**
1
2
4
8
16
16
1
Only in 2-phase mode, hex step with torque compensation.
One phase excitation means that only one phase is powered at a time, only available
in 2-phase mode.
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SET_MODE_B
Command:
Inputs:
Outputs:
Version: 1.3
Set Drive Mode Motor B
0x0201
Drive mode
None
Function:
Select a drive mode for motor B.
See Also:
SET_MODE_A
SET_HC_A
Command:
Inputs:
Outputs:
Set Hold Current Factor A
0x0a00
Hold current reduction factor
None
Function:
Set the hold current reduction factor for motor A. When set the hold current is reduced
automatically with a programmable reduction factor, after the motor is positioned. Make sure
to leave enough current to hold the motor in the same position. The hold current factor can
be any integer value between ‘0' and ‘7'. The table below shows the relationship between the
reduction factor and hold current.
Factor
Hold Current
0
1
2
3
4
5
6
7
Imax
Imax/2
Imax/3
Imax/4
Imax/5
Imax/6
Imax/7
Imax/8
Imax is resistor configurable refer to section 4.4 for details.
SET_HC_B
Command:
Inputs:
Outputs:
Set Hold Current Factor B
0x0a01
Hold current reduction factor
None
Function:
Set the hold current reduction factor for motor B.
See Also:
SET_HC_A
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Version: 1.3
5.13. SERVICE COMMANDS
The commands in this section are provided for service purposes. The commands are only listed and
not explained in detail.
DEBUG
Command:
Inputs:
Outputs:
Undocumented
0x8001
Undocumented
Undocumented
Function:
This function is provided for service and developing purposes.
For normal operation, do not use this function.
FLASHPRG
Command:
Inputs:
Outputs:
Program Byte In FLASH
0x8002
Offset and byte value
None
Function:
With this command a byte (parm #1) is programmed into the on-board FLASH memory at the
specified offset (parm #0). Flash programming must be enabled with the command
FLASHEN. This function is provided for in-system firmware updates, details will be provided
with any firmware update. For normal operation, do not use this function.
FLASHVER
Command:
Inputs:
Outputs:
Read Byte From FLASH
0x8003
Offset
Byte value
Function:
With this command the content of offset (parm #0) in the on-board FLASH memory is
returned in parm #1.
This function is provided for in-system firmware updates, details will be provided with any
firmware update. For normal operation, do not use this function.
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FLASHCLR
Command:
Inputs:
Outputs:
Version: 1.3
Clear Flash
0x8004
None
None
Function:
This command will erase the on-board flash device provided that programming is enabled
with the FLASHEN command.
This function is provided for in-system firmware updates, details will be provided with any
firmware update. For normal operation, do not use this function.
FLASHEN
Command:
Inputs:
Outputs:
Enable Flash Programming
0x8005
Signature
None
Function:
With this command programming of the on-board FLASH memory is enabled. Parameter 0
must contain a signature that must be obtained from AcQuisition Technology bv.
This function is provided for in-system firmware updates, details will be provided with any
firmware update. For normal operation, do not use this function.
5.14. M322 COMMANDS
The commands in this section are only available to the M322, and are not explained in detail. Calling
these commands will return the result code INVREQ.
GPOUT0_A
Command:
Inputs:
Outputs:
Set/Clear GP Output 0 Motor A
0x1000
Output state
None
Function:
M322 only
GPOUT0_B
Command:
Inputs:
Outputs:
Set/Clear GP Output 0 Motor B
0x1001
Output state
None
Function:
M322 only
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GPOUT1_A
Command:
Inputs:
Outputs:
Version: 1.3
Set/Clear GP Output 1 Motor A
0x2000
Output state
None
Function:
M322 only
GPOUT1_B
Command:
Inputs:
Outputs:
Set/Clear GP Output 1 Motor B
0x2001
Output state
None
Function:
M322 only
GPOUT2_A
Command:
Inputs:
Outputs:
Set/Clear GP Output 2 Motor A
0x3000
Output state
None
Function:
M322 only
GPOUT2_B
Command:
Inputs:
Outputs:
Set/Clear GP Output 2 Motor B
0x3001
Output state
None
Function:
M322 only
5.15. EMERGENCY BRAKE
The firmware provides an emergency brake function. This function cannot be called through the
command structure, but by generating a mailbox interrupt to the module.
A mailbox-interrupt can be generated by writing a logic one ‘1', to bit #2 of the control register. As a
result of the mailbox interrupt the M321 will immediately abort all motion profiles and shorten the
motor windings.
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6.
Version: 1.3
SOFTWARE
This chapter describes the example software which is available for the M321 Stepper Motor
Controller M-module with on-board Power Amplifiers. The example software is available in ANSI-C
source code and consists mainly of an M321 function library which provides functions for easy
access to the M321 and a demo program which illustrate the usage of the software library.
The M321 library functions are APIS based, physical accesses and interrupt support are handled by
APIS, AcQ Platform Independent Interface Software. The next section contains general information
on APIS, for detailed information please refer to the APIS’ Programmer’s Manual.
6.1.
APIS SUPPORT
AcQ produces and supports a large number of standard M-modules varying from networking and
process I/O to motion control applications. Physically, the M-modules are supported by a large
number of hardware platforms: VMEbus, PCI, CompactPCI as well as a wide variety of operating
systems: OS-9, Windows NT, Linux etc.
APIS offers a way to program platform independent applications, example- and test software for
controlling hardware. Application software written for APIS only needs re-compiling for a particular
platform and is operational with little effort (provided that the application is operating system
independent).
6.1.1. CONCEPT
Hardware accesses to registers and memory are handled by APIS. Some minor operating system
dependent functions frequently used in hardware related software, such as interrupts handling and a
delay function, are also provided by APIS.
APIS platform support consists of an Application Programming Interface in the form of definition files
coded in ANSI-C and platform dependent modules, e.g. source files, libraries and/or drivers.
In the most simple outline, a platform dependent APIS module consist of nothing more then macro
definitions in which APIS calls are substituted by direct hardware accesses. But in most cases an
APIS module will consist of a library with interface routines and in some implementations a device
driver is needed for interaction with the operating system.
6.1.2. API
The Application Programming Interface for APIS is implemented in two ANSI-C coded definition files:
apis.h which contains general definitions and platform_apis.h which contains platform specific
definitions and references to the APIS function calls.
The application source file must include the APIS header file apis.h. Porting of the application to a
platform, consists of re-compiling the source code with a defined pre-processor macro for selection of
the used platform. The APIS header file contains generic APIS definitions and includes a platform
specific header file according to the platform selection macro.
APIS calls are translated to the platform specific calls in the APIS header file and the platform specific
definition file platform_apis.h (platform is a name that identifies a hardware and operating system
combination, e.g. i4000os9).
The macro PLATFORM must be defined, either via a pre-processor definition provided at compile
time or via a macro-definition in the application source.
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Version: 1.3
6.1.3. CODE GENERATION
APIS based example software is available in ANSI-C source code. Source code files must be
compiled with the pre-processor definition PLATFORM set to a valid value, conforming the target
platform. Building of the example software for the M321 is platform dependent, for details refer to the
release notes of the APIS support package of the target platform and the APIS Programmer’s
Manual.
Examples of APIS supported platforms are i4000os9, i2000dos, i3000win etc.
6.2.
TYPE DEFINITIONS AND STRUCTURES
The table below contains a list and description of all types and structures used in the M321 example
software (standard ANSI-C types are not listed).
Name
Type
Description
INT8
UINT8
INT16
UINT16
INT32
UINT32
char
unsigned char
short
unsigned short
long
unsigned long
8-bit signed data
8-bit unsigned data
16-bit signed data
16-bit unsigned data
32-bit signed data
32-bit unsigned data
PHA8
PHA16
PHA32
volatile unsigned char *
volatile unsigned short *
volatile unsigned long *
8-bit physical access
16-bit physical access
32-bit physical access
APIS_PATH
APIS_HANDLE
APIS_WIDTH
unsigned long
void *
int
APIS physical path ID
APIS physical path handle
APIS access size in bytes
IDCODE
union {
struct {
short synccode,
modnum,
revision,
modchar,
res[4];
char manstr[16];
} id;
short
reg[16];
}
ID EEPROM contents
Page 46 of 58
Sync code (0x5346)
Module number (binary coded)
revision number
Module characteristics
reserved
manufacturer string
ID data
raw data
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6.3.
Version: 1.3
FUNCTION REFERENCE
This section contains the reference of the functions provided by the M321 APIS-based software
library.
m321_open()
Open APIS path
Syntax:
int m321_open(APIS_PATH apis_pathid, M321_HANDLE *handle)
Description:
Opens a path to the module specified with its hardware address or ID.
Arguments:
APIS_PATH apis_pathid
Hardware address or ID of the module
M321_HANDLE *handle
Pointer to m321 handle
Returns:
handle.apis_path filled, if successful
handle.irqstat unchanged
0 (APIS_NOERR) when successful
or another APIS-error code when unsuccessful
Example:
result = m321_open(module_id, &handle);
m321_close()
Syntax:
int m321_close(M321_HANDLE *handle)
Description:
Closes the APIS-path to the module.
Arguments:
M321_HANDLE *handle
Pointer to m321 handle
Returns:
0 (APIS_NOERR) when successful
or another APIS-error code when unsuccessful
Example:
result = m321_close(&handle);
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Close APIS path
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m321_boot()
Version: 1.3
Boot the m321
Syntax:
int m321_boot (M321_HANDLE *handle)
Description:
Boot the m321 from RAM or ROM (according to jumper configuration).
Arguments:
M321_HANDLE *handle
Pointer to m321 handle
Returns:
0 when successful
-1 in case of hardware failure (timeout)
Example:
result = m321_boot(&handle);
m321_cmd()
Execute command
Syntax:
int m321_cmd (M321_HANDLE *handle, UINT16 command, void
*pArgList, int ni, int no)
Description:
Copy command parameters to the parameter field in shared RAM of the m-module.
Execute command and wait for the command to be completed. Copy the result
parameters and return with the result code obtained from the firmware.
A table of available commands you can find in chapter 5.2
Arguments:
M321_HANDLE *handle
Pointer to m321 handle
UINT16 command
firmware command
void *pArgList
Pointer to the parameter list
int ni
Number of input parameters
int no
Number of output parameters
Returns:
Command result code from firmware
A table of possible result codes you can find on page 22
Example:
result = m321_cmd(&handle, SYNC, (UINT16 *)(&params), 0, 0);
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m321_clistat()
Version: 1.3
Set m321 interrupt status
Syntax:
int m321_clistat(M321_HANDLE *m321_handle, int mask)
Description:
Clear bits in the m321 interrupt status word.
A table of available interrupt resources and their position in the status word, you can
find in chapter 5.4
Arguments:
M321_HANDLE *m321_handle
Pointer to the m321 handle
int mask
Bits to clear
Returns:
0 when successful
APIS-error-code when unsuccessful
Example:
m321_setstat(&handle, IRQ_HOME_A);
m321_waitforirq()
Wait for an interrupt
Syntax:
int m321_waitforirq(void)
Description:
Wait for an APIS-originated interrupt or (non-APIS)_signal. (E.g. an APIS service
routine is successfully handled or an external process signal is received)
Arguments:
None
Returns:
APIS_NOERR when there was an APIS interrupt/signal
APIS_ESIG when another signal was received (e.g. CTRL-C user interrupt)
Example:
if (m321_waitforirq() != 0) break;
m321_gtistat()
Get m321 interrupt status
Syntax:
UINT16 m321_gtistat(M321_HANDLE *m321_handle, int mask)
Description:
Get bits of the m321 interrupt status word.
A table of available interrupt resources and their position in the status word, you can
find in chapter 5.4
Arguments:
M321_HANDLE *m321_handle
Pointer to m321 handle
Returns:
interrupt status word
Example:
result = m321_gtistat(&handle);
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m321_int_install()
Version: 1.3
Install interrupt routine
Syntax:
int m321_int_install(M321_HANDLE *m321_handle);
Description:
Installs the interrupt service routine for the specified m321.
Arguments:
M321_HANDLE *m321_handle
Pointer to m321 handle
Returns:
0 (APIS_NOERR) when successful
or APIS-error code when unsuccessful
Example:
result = m321_int_install(&handle);
m321_int_deinstall()
De-install interrupt routine
Syntax:
int m321_int_deinstall(M321_HANDLE *m321_handle);
Description:
De-installs the interrupt service routine for the specified m321.
Arguments:
M321_HANDLE *m321_handle
Pointer to m321 handle
Returns:
0 (APIS_NOERR) when successful
or APIS-error code when unsuccessful
Example:
result = m321_int_deinstall(&handle);
Page 50 of 58
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6.4.
Version: 1.3
SOFTWARE DISTRIBUTION
This section gives an overview of the software distribution.
File
Description
M321\SOFTWARE\m321rel.txt
M321\SOFTWARE\LIB\m321lib.c
M321\SOFTWARE\LIB\m321defs.h
M321\SOFTWARE\LIB\m321firm.c
M321\SOFTWARE\EXAMPLE\m321demo.c
M321\SOFTWARE\EXAMPLE\makefile.bor
M321\SOFTWARE\EXAMPLE\makefile.os9
MMODID\SOFTWARE\LIB\modideep.c
MMODID\SOFTWARE\LIB\ideeprom.h
Release notes
ANSI-C M321 APIS software library
Definitions for the M321 library
Downloadable firmware image for the M321
Demo program for M321
Borland C makefile for M321 on i2000
OS9 makefile for M321 on i4000
ANSI-C ID EEPROM APIS software library
Definitions for the ID EEPROM library
M321 example software is APIS based, therefore APIS support for the target platform is required for
code generation.
The following figure is an example of the M321 software integrated in the APIS environment on an
i4000/OS-9 target platform.
+—--PROJECT
+—--APIS
|
+—–-DOC
|
+—–-SOFTWARE
|
| readme.txt
|
+—–-COMMON
|
|
+—–-DEFS
|
|
|
apis.h
|
|
+—–-OS9TRAP
|
|
|
+—–CMDS
|
|
|
apistrap
|
|
+—–-....
|
+—–-I4000OS9
|
|
relnotes.txt
|
|
apis_i4000os9.h
|
|
apis_i4000os9.c
|
+—–-....
+—–-M321
|
+—–-DOC
|
+—–-SOFTWARE
|
| m321rel.txt
|
+—--LIB
|
+––-EXAMPLE
+—–-MMODID
+---SOFTWARE
+---LIB
modideep.c
AcQ’s distribution
APIS basis distribution
APIS documentation
Distribution overview
General definitions
OS-9 trap handler
i4000/OS-9 support
Release notes / version info
Platform specific definitions
Platform support library
M321 distribution
M321 documentation
Release notes / version info
M321 support libraries
M321 example software
M-module ID EEPROM library
Code generation is platform dependent, for information on building the software please refer to the
release notes of the target platform and the APIS Programmer’s Manual.
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7.
ANNEX
7.1.
BIBLIOGRAPHY
Version: 1.3
Specification for M-module interface and physical dimensions:
M-module specification manual, April 1996, MUMM.
Simon-Schöffel-Strasse 21, D-90427 Nürnberg, Germany.
APIS Programmer’s Manual
AcQuisition Technology
P.O. Box 627, 5340 AP Oss, The Netherlands.
Data Sheet of the NM93C46
Memory Databook 1992 edition (400069)
National Semiconductor Corporation
1111 West Bardin Road; Arlington, TX76017, United States
Data Sheet of the LMD18254 DMOS Full-Bridge Motor Driver
National Power ICs Databook
National Semiconductor Corporation
1111 West Bardin Road; Arlington, TX76017, United States
7.2.
COMPONENT IMAGE
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7.3.
Version: 1.3
TECHNICAL DATA
Slots on the base-board:
Requires one 16-bit M-module slot.
Connection:
To base-board via 40 pole M-module interface.
To peripheral via 25 pole D-sub connector.
Power supply:
+5VDC ±10%, typical 250mA.
Temperature range:
Operating: 0..+60EC.
Storage : -20..+70EC.
Humidity:
Class F, non-condensing.
EMC rules:
Emission:
EN55022 Level B.
Immunity:
EN50082-2.
Provided that for cabling, shielded multi-cable is used with metal DSUB-25 connector caps.
The shield must be coaxial terminated to the metal cap.
7.4.
DOCUMENT HISTORY
!
Version R1.0
First release
!
Version R1.1
Nyquist industrial control references added
Software routine and filename references changed
Jumper orientation explained
Stepper motor algorithm described in anex
!
Version R1.2
Firmware updated to R4.0
Commands ABORT_X and BREAK_X explained in more detail.
RESET bit in control register explained in more detail.
Adapted for firmware revision R4.0
IACK command added
Command interrupt service routine example changed
Interrupt service routine example provided
Result code PROFCORR removed
Description of motion profile changed (PROF_ABS_A command)
Motion profile restrictions removed
Maximum length of acceleration trajectory added
FLASHEN/FLASHCLR commands added
SWSYNC_X and GO_X commands added.
!
Version R1.3
New layout
APIS support added
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7.5.
Version: 1.3
EXAMPLE CODE
This section contains a programming example written in ANSI-C and uses APIS and M321 functions
provided by m321lib.c . The program configures the m321, after this it sets a breakpoint and starts a
trajectory.
/*
* file:
m321demo.c
* revision: 1.1
* date:
15/02/00
* author:
TL
* ---------------------------------------------------------------------*
* M321 APIS based demo application.
*
* This application is part of the M321 ANSI-C library and demonstrates
* the usage of a M321 or M322 on an APIS supported platform.
*
* This demo application uses APIS functions and M321 functions
* provided by m321lib.c.
*
* ---------------------------------------------------------------------* Copyright 2000 by AcQuisition Technology B.V. (c)
* All Rights Reserved
* Reproduced Under License
*
* This source code is the proprietary confidential property of
* AcQuisition Technology B.V., and is provided to the licensee
* for documentation and educational purposes only. Reproduction,
* publication, or any form of distribution to any party other than
* the licensee is strictly prohibited.
* ---------------------------------------------------------------------* Edition History
*
* #
date
Comments
by
* --- ----------------------------------------------------- --* 1.0 20-07-99
derived from ms21demo.c
sp
* 1.1 15-02-00
APIS structure update
tl
*
*/
#include
#include
#include
#include
#include
#include
<stdio.h>
<stdlib.h>
<ctype.h>
"../LIB/m321defs.h"
"../../../APIS/SOFTWARE/COMMON/DEFS/apis.h"
"../../../MMODID/SOFTWARE/LIB/ideeprom.h"
/*
*Globals
*/
volatile int term = 0;
/* program termination flag */
/*
* Forward declarations
*/
void usage(char *);
/* display usage */
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/*
* Function:
main
*
* Description: M321/APIS Demo program entry
*
* Parameters: int argc
*
number of program arguments
*
char *argv[]
*
pointer to program argument list
*
* Returns:
0
*/
int main (int argc, char *argv[])
{
M321_HANDLE handle;
/* APIS Handle */
UINT16 *args;
/* M321 argument list */
UINT32 pathid = 0;
/* M321 base address or id */
int i, j;
/* General idici */
int result;
/* Command result */
int repeat = 0;
/* Repeat flag */
IDCODE idcode;
/* ID EEPROM structure */
printf("\nM321/M322 Demo\n");
printf("by AcQuisition Technology B.V. 1999\n\n");
for (i = 1; i < argc; i++) {
if (argv[i][0] == '-') {
for (j = 1; argv[i][j]; j++) {
switch (tolower(argv[i][j])) {
case 'b':
if (argv[i][++j] == '=')
j++;
sscanf(argv[i]+j, "%lx", &pathid);
while(argv[i][j])
j++;
j--;
break;
case 'r':
repeat = 1;
break;
default:
usage(argv[0]);
exit(1);
}
}
}
}
/*
* Allocate memory for the M321 command argument list
*/
if ((args = (UINT16 *)malloc(32)) == 0) {
printf("Not enough memory\n");
exit(1);
}
/*
* Open a hardware path to the M321
*/
result = m321_open(pathid, &handle);
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if (result != 0) {
printf("Could not open path: 0x%04x\n", result);
exit(1);
}
/*
* Read and verify contents of the Identification EEPROM
*/
if (get_modid(handle.apis_handle, (void *)&idcode) != 0) {
printf("ID EEPROM error\n");
m321_close(&handle);
exit(1);
}
if (idcode.id.synccode != IDSYNC) {
printf("Invalid identification code\n");
m321_close(&handle);
exit(1);
}
printf("Module ID: M%d\n", idcode.id.modnum);
if (idcode.id.modnum != 321 && idcode.id.modnum != 322) {
printf("Error: wrong module\n");
m321_close(&handle);
exit(1);
}
/*
* Booting the module
*/
printf("Booting the module\n");
if (m321_boot(&handle) != 0) {
printf("Failed\n\n");
m321_close(&handle);
exit(1);
}
printf("Done\n");
/*
* Get firmware version
*/
result = m321_cmd(&handle, VERSION, args, 0, 1);
if (result != 0) {
printf("VERSION command failed: 0x%04x\n", result);
m321_close(&handle);
exit(1);
}
printf("Firmware version: %d.%d\n", args[FWVER]/10, args[FWVER]%10);
/*
* Set up interrupts with default interrupt vector, level and mode
*/
result = m321_int_install(&handle);
if (result != 0) {
printf("IRQ-install error %d\n", result);
m321_close(&handle);
exit(1);
}
/*
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* Unmask interrupts
*/
args[IMASK] = (IRQ_TRAJ_A|IRQ_BRKPT_A);
result = m321_cmd(&handle, MSKI, args, 1, 0);
if (result != 0) {
printf("MSKI command failed: 0x%04x\n", result);
m321_close(&handle);
exit(1);
}
/*
* Clear interrupt status bits in m321istat
*/
m321_clistat(&handle, (IRQ_TRAJ_A|IRQ_BRKPT_A));
do {
printf("Set Relative Breakpoint to +1000\n");
args[BRKPT_H] = 0;
args[BRKPT_L] = 0x3e8;
result = m321_cmd(&handle, SET_BPR_A, args, 2, 0);
if (result != 0) {
printf("SET_BPR_A command failed: 0x%04x\n", result);
term = 1;
}
printf("Moving +5000 steps\n\n");
args[RISE_H] = 0;
/* rise frequency = 300 Hz */
args[RISE_L] = 0x12c;
args[DRIVE_H] = 0;
/* drive frequency = 1000 Hz */
args[DRIVE_L] = 0x3e8;
args[ACC_H] = 0;
/* acceleration = 10000 Hz/sec */
args[ACC_L] = 0x2710;
args[POS_H] = 0;
/* end position = 5000 steps */
args[POS_L] = 0x1388;
result = m321_cmd(&handle, PROF_REL_A, args, 8, 0);
if (result != 0) {
printf("PROF_REL_A command failed: 0x%04x\n", result);
term = 1;
}
do {
if (m321_waitforirq() != 0)
term = 1;
/*
* Verify interrupt flags
* Unmasked interrupt sources:
*
IRQ_BRKPT_A
*
IRQ_TRAJ_A
*/
if (m321_gtistat(&handle) & IRQ_BRKPT_A) {
printf("Breakpoint detected\n\n");
m321_clistat(&handle, IRQ_BRKPT_A);
}
} while (!(m321_gtistat(&handle) & IRQ_TRAJ_A) && !term);
if (m321_gtistat(&handle) & IRQ_TRAJ_A) {
printf("Traject A completed\n\n");
m321_clistat(&handle, IRQ_TRAJ_A);
}
} while (repeat && !term);
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/*
* Mask all interrupts
*/
args[IMASK] = IRQ_BLANK;
result = m321_cmd(&handle, MSKI, args, 1, 0);
if (result != 0) {
printf("MSKI command failed: 0x%04x\n", result);
}
m321_close(&handle);
free(args);
return 0;
/* and close path */
}
/*
* Function:
usage
*
* Description: The program usage is displayed and the program
*
is terminated
*
* Parameters: pointer to the program name
*
* Returns:
nothing
*/
void usage(char *pname)
{
printf("Syntax: %s [<opts>]\n", pname);
printf("Options (default):\n");
printf(" -b=<base>
module APIS path ID in hex\n");
printf(" -r
repeat\n\n");
}
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